Diff: main.cpp

Revision:

26:71288f42dbc6

Parent:

23:7d29f2132197

Parent:

25:582c5a0c868c

Child:

27:b1653e9bc81c

--- a/main.cpp	Thu Apr 23 14:39:38 2015 +0000
+++ b/main.cpp	Thu Apr 23 14:46:50 2015 +0000
@@ -37,14 +37,26 @@
 10 is Time of pulse to send to the rangefinder to trigger a measurement, in microseconds.
 5800 is   Scaling of the range finder's output pulse from microseconds to metres.
 100000 Time to wait for a pulse from the range finder before giving up */
-RangeFinder rf(p26, 10, 5800.0, 100000);
 
+RangeFinder rf(p21, 10, 5800.0, 100000);
 /* Thread Serial 1 - handles the output data from the control thread, and pass to the servo.
     @update s1, s2 */
 void serial_thread(void const *args)
 {
     while (true) {
-        pc.scanf("%f,%f", &corHoriz, &corVert);// read from serial port the data // temporary Vert1
+
+        //    mutexIn.lock();
+        //   mutexOut.lock();
+
+        //if not range finding
+        //mutex_sonar.lock();
+        if(pc.readable())
+            pc.scanf("%f,%f", &corHoriz, &corVert);// read from serial port the data
+
+        //mutex_sonar.unlock();
+        //mutexIn.unlock();
+        //mutexOut.unlock();
+        Thread::wait(1000);
     }
 }
 
@@ -55,11 +67,19 @@
     while (true) {
         mutex_sonar.lock();
         // Display values on the LCD screen
-        lcd.cls();          // clear the display
-        lcd.locate(0,1);    // the location where you want your charater to be displayed
-        lcd.printf("Sonar: %0.3f, OutTilt: %0.3f", sonar.read(), outTilt);
-        lcd.locate(0,9);    // the location where you want your charater to be displayed
+
+        // lcd.cls();          // clear the display
+        lcd.locate(0,0);    // the location where you want your charater to be displayed
+        lcd.printf("differ: %0.3f, OutTilt: %0.3f", differ, outTilt);
+
+        // lcd.cls();          // clear the display
+        lcd.locate(0,10);    // the location where you want your charater to be displayed
         lcd.printf("Vert: %0.3f, OutVert: %0.3f", corVert, outVert);
+
+        //lcd.cls();          // clear the display
+        lcd.locate(0,20);    // the location where you want your charater to be displayed
+        lcd.printf("dis: %0.2f\n\r", distance);// Display the distance in meters from the sonar
+        mutex_sonar.unlock();
         Thread::wait(250);
         mutex_sonar.unlock();
     }
@@ -67,10 +87,11 @@
 
 /* Thread Control 3 - handles the input data from the sonar sensor, and display on the LCD screen.
     @update inData */
-void control_thread(void const *args) {
+void control_thread(void const *args)
+{
     while (true) {
         mutexIn.lock();
-        if (corVert > 0 && corVert < 1) { // if corVert is valid (between 0 - 1) then do movements                
+        if (corVert > 0 && corVert < 1) { // if corVert is valid (between 0 - 1) then do movements
             // moves lamp down by the fraction of the difference from the middle
             if (corVert >= .5) {
                 outVert = corVert - ((corVert - .5) * sonar);
@@ -87,8 +108,8 @@
                 outHoriz = outHoriz + .05;
                 search = search + .05;
             } else if (search > outHoriz && search > .1) {
-                outHoriz = 
-                search = 
+                outHoriz =
+                search =
             }*/
         }
         mutexIn.unlock();
@@ -98,7 +119,8 @@
 
 /* Thread Servo 4 - handles the output data from the control thread, and pass to the servo.
     @update s1, s2 */
-void servo_thread(void const *args) {
+void servo_thread(void const *args)
+{
     while (true) {
         mutexOut.lock();
         tiltServo = outTilt;
@@ -109,25 +131,29 @@
     }
 }
 
-/* Thread sonar 5 - handles the sonar values which can be in meter or normailsed value to one */ 
-void sonar_thread(void const *args) {
+/* Thread sonar 5 - handles the sonar values which can be in meter or normailsed value to one */
+void sonar_thread(void const *args)
+{
     while (true) {
         mutex_sonar.lock();
         distance = rf.read_m(); // read the distance from the sonar sensor in meter
         norm= distance/3.3;     // normalised value from the sonar sensor
-        printf("dis: %0.2f", distance);// Display the distance in meters from the sonar
+        // lcd.cls();          // clear the display
+        // lcd.locate(0,5);    // the location where you want your charater to be displayed
+        printf("dis: %0.2f\n\r", distance);// Display the distance in meters from the sonar
         mutex_sonar.unlock();
         Thread::wait(250);
     }
 }
 
-int main() {
+int main()
+{
     Thread thread_1(serial_thread); // Start Serial Thread
     Thread thread_2(lcd_thread); // Start LCD Thread
     Thread thread_3(control_thread); // Start Servo Thread
     Thread thread_4(servo_thread); // Start Servo Thread
     Thread thread_5(sonar_thread); // Start Servo Thread
-    while(1) {     
-        wait(1);
+    while(1) {
+        Thread::wait(1);
     }
 }